• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• 대한한의진단학회지
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• 제16권3호
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• pp.33-40
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• 2012

Objectives: Existing cardiovascular simulators are used to evaluate artificial organs such as artificial hearts, prosthetic valves, and artificial blood vessels, and pulses are typically triggered using artificial hearts. However, the forms of pulse waves vary according to the location of arteries, and for precise assessment of artificial blood vessels, the development of simulators that generate diverse pressure pulse waves is necessary. This study developed a novel cardiovascular simulator that generates different forms of pulse waves. Methods: This simulator consists of a stepping motor, a slider-crank mechanism that transforms the rotation movement of a motor into the straight-line motion of a piston, a piston that generates pulsatile flows, a water tank that supplies fluids, an elastic tube made of silicon, and a device that adjusts the terminal resistance of fluids. Results & Conclusion: This study examined motor rotation and its operation under conditions similar to the physiological conditions of the heart. The simulator developed in this study produced diverse forms of waves, and the generated pressure waves well satisfied physiological conditions.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• 전자공학회논문지
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• 제51권10호
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• pp.204-209
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• 2014

본 논문은 맥파전달현상을 유지하며 맥압을 조절할 수 있는 시뮬레이터를 제작하는 것이 목적이다. 이를 위해 탄성튜브와 컴플라이언스 챔버를 융합하였다. 본 시뮬레이터는 슬라이더-크랭크로 구성된 압력발생부, 저항조절부를 포함한 혈관부, 수조 그리고 측정부로 구성되어있다. 챔버의 위치선정을 위해 챔버의 위치에 따른 맥파의 변화를 실험하였다. 또한 챔버가 맥압에 미치는 영향을 보기 위해 챔버의 유무에 따른 맥압의 변화를 비교하였다. 챔버의 유무가 맥파전달현상에 미치는 영향을 조사하였다. 실험결과, 튜브의 상류지점에 챔버를 설치할 때가 하류지점에 설치할 때 보다 인체와 더 유사한 압력파형을 나타냈다. 챔버를 설치하였을 때가 설치하지 않았을 때보다 인체와 유사한 맥압을 생성하였다. 챔버의 설치여부에 따른 맥파 전달 속도는 큰 변화가 없었다.

• 한국자동차공학회논문집
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• 제12권4호
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• pp.119-128
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• 2004

With the growing traffic density and increasing comfort requirements, the automation of the drive train will gain importance in vehicles. The automatic clutch actuation relieves the drivers especially in urban driving and stop-and-go traffic conditions. This paper describes the dynamic modeling of a clutch actuator and clutch spring. The dynamic model of the clutch system is developed using MATLAB/Simulink, and evaluated by experimental data using a test rig. This performance simulator is useful to develop the clutch-by-wire (CBW) system for an automated manual transmission (AMT). The electro-mechanical type CBW system is also implemented as an automatic clutch for AMT. The prototype of CBW system is designed and implemented systematically, which is composed of an electric motor, worm gear and slider-crank mechanism. The test rig is developed to perform the basic function test of the automatic clutch, and the developed prototype is validated by the experimental data on the test rig.